File size: 699 Bytes
b8ddb86 ab2c3ed afe6746 ab2c3ed | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 | ---
license: mit
---
This is a pre-trained model (DDPG agent) for **XArm6Reach** simulation task, defined in [here](https://github.com/xArm-Developer/uf-gym).
You can load and try it with `test_xarm6_reach.py` in the repository.
Hyperparameters:
```python
OrderedDict([
('batch_size', 2048),
('buffer_size', 1000000),
('gamma', 0.95),
('learning_rate', 0.001),
('learning_starts', 100),
('policy', 'MultiInputPolicy'),
('policy_kwargs', dict(net_arch=[512, 512, 512], n_critics=2)),
('replay_buffer_class', HerReplayBuffer),
('replay_buffer_kwargs', dict( goal_selection_strategy='future', n_sampled_goal=4)),
('tau', 0.05),
])
``` |